Geometry

Provides functions for geometry related operations. More...

Classes
class	Geometry::GJKResult< VectorType >
struct	API_PrimHatchBorder
	Hatch border for primitive elements. More...
struct	API_PrimElemRef
	Primitive element reference. More...
struct	API_Prim_Head
	Header information for primitive elements. More...
struct	API_PrimHotspot
	A primitive hotspot. More...
struct	API_PrimPoint
	A primitive point. More...
struct	API_PrimLine
	A primitive line. More...
struct	API_PrimArc
	A primitive arc. More...
struct	API_PrimPLine
	A primitive polyline. More...
struct	API_PrimTri
	A primitive triangle. More...
struct	API_PrimPoly
	A primitive polygon. More...
struct	API_PrimPict
	A picture inside a placed drawing. More...

Functions
template<typename VectorType >
VectorType	Geometry::GJKGetAveragePoint (const GS::Array< VectorType > &vertices)
template<typename VectorType >
VectorType	Geometry::GJKGetFurthestPoint (const GS::Array< VectorType > &vertices, const VectorType &d)
template<typename VectorType >
VectorType	Geometry::GJKGetSupport (const GS::Array< VectorType > &vertices1, const GS::Array< VectorType > &vertices2, const VectorType &d)
template<typename Coordinate >
bool	Geometry::GJKDoSimplex (GS::Array< Vector2< Coordinate > > &simplex, Vector2< Coordinate > &direction)
template<typename Coordinate >
bool	Geometry::GJKDoSimplex (GS::Array< Vector3< Coordinate > > &simplex, Vector3< Coordinate > &direction)
template<typename SupportFunction , typename VectorType >
GJKResult< VectorType >	Geometry::GJKCollisionDetection (SupportFunction supportFunction, VectorType direction)
template<typename VectorType >
GJKResult< VectorType >	Geometry::GJKCollisionDetection (const GS::Array< VectorType > &vertices1, const GS::Array< VectorType > &vertices2)

Detailed Description

Provides functions for geometry related operations.

Function Documentation

GJKCollisionDetection() [1/2]

template<typename VectorType >

GJKResult< VectorType > Geometry::GJKCollisionDetection	(	const GS::Array< VectorType > &	vertices1,
		const GS::Array< VectorType > &	vertices2
	)

Specific implementation of the specialized GJK algorithm for two shapes defined by vertices.

Parameters

vertices1	The array of vertices of the first shape.
vertices2	The array of vertices of the second shape.

Returns

true if the zero point is included in the Minkowski difference, i.e. collision is detected, false otherwise.

GJKCollisionDetection() [2/2]

template<typename SupportFunction , typename VectorType >

GJKResult< VectorType > Geometry::GJKCollisionDetection	(	SupportFunction	supportFunction,
		VectorType	direction
	)

Generic implementation of the specialized GJK algorithm for collision detection.

Parameters

supportFunction	The support function callback to get the Minkowski difference point for a specific direction.
direction	The initial direction for algorithm startup.

Returns

true if the zero point is included in the Minkowski difference, i.e. collision is detected, false otherwise.

GJKDoSimplex() [1/2]

template<typename Coordinate >

bool Geometry::GJKDoSimplex	(	GS::Array< Vector2< Coordinate > > &	simplex,
		Vector2< Coordinate > &	direction
	)

Zero point check for the current simplex in the Minkowski space.

Specific implementation for the 2D case.

Parameters

simplex	The current simplex. The function updates it based on the zero point direction.
direction	The current direction. The function updates it based on the zero point direction.

Returns

true if the zero point is included in the Minkowski sum, i.e. collision is detected, false otherwise.

GJKDoSimplex() [2/2]

template<typename Coordinate >

bool Geometry::GJKDoSimplex	(	GS::Array< Vector3< Coordinate > > &	simplex,
		Vector3< Coordinate > &	direction
	)

Zero point check for the current simplex in the Minkowski space.

Specific implementation for the 3D case.

Parameters

simplex	The current simplex. The function updates it based on the zero point direction.
direction	The current direction. The function updates it based on the zero point direction.

Returns

true if the zero point is included in the Minkowski sum, i.e. collision is detected, false otherwise.

GJKGetAveragePoint()

template<typename VectorType >

VectorType Geometry::GJKGetAveragePoint

(

const GS::Array< VectorType > &

vertices

)

This is to compute average center (roughly).

It might be different from Center of Gravity, especially for bodies with nonuniform density, but this is ok as initial direction of simplex search in GJK.

Parameters

vertices

The array of vertices.

Returns

The average center point.

GJKGetFurthestPoint()

template<typename VectorType >

VectorType Geometry::GJKGetFurthestPoint	(	const GS::Array< VectorType > &	vertices,
		const VectorType &	d
	)

Get the furthest vertex point along a certain direction.

Parameters

vertices	The array of vertices.
d	The direction vector.

Returns

The furthest vertex point.

GJKGetSupport()

template<typename VectorType >

VectorType Geometry::GJKGetSupport	(	const GS::Array< VectorType > &	vertices1,
		const GS::Array< VectorType > &	vertices2,
		const VectorType &	d
	)

Minkowski sum support function for GJK.

Parameters

vertices1	The array of vertices of the first shape.
vertices2	The array of vertices of the second shape.
d	The direction vector.

Returns

The Minkowski sum support point along the specified direction.